diff --git a/libraries/APM_Control/AP_AutoTune.cpp b/libraries/APM_Control/AP_AutoTune.cpp
index 27a52909cf..c8008b61d4 100644
--- a/libraries/APM_Control/AP_AutoTune.cpp
+++ b/libraries/APM_Control/AP_AutoTune.cpp
@@ -26,6 +26,8 @@
 #include <AP_Logger/AP_Logger.h>
 #include <AP_Math/AP_Math.h>
 #include <AC_PID/AC_PID.h>
+#include <AP_Scheduler/AP_Scheduler.h>
+#include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -45,7 +47,7 @@ extern const AP_HAL::HAL& hal;
 
 // constructor
 AP_AutoTune::AP_AutoTune(ATGains &_gains, ATType _type,
-                         const AP_Vehicle::FixedWing &parms,
+                         const AP_FixedWing &parms,
                          AC_PID &_rpid) :
     current(_gains),
     rpid(_rpid),
diff --git a/libraries/APM_Control/AP_AutoTune.h b/libraries/APM_Control/AP_AutoTune.h
index 1f3ba38011..1859a2489f 100644
--- a/libraries/APM_Control/AP_AutoTune.h
+++ b/libraries/APM_Control/AP_AutoTune.h
@@ -1,9 +1,11 @@
 #pragma once
 
+#include <AP_Logger/AP_Logger.h>
 #include <AP_Logger/LogStructure.h>
-
+#include <AP_Param/AP_Param.h>
+#include <AP_Vehicle/AP_FixedWing.h>
 #include <Filter/SlewLimiter.h>
-#include <AP_Vehicle/AP_Vehicle.h>
+
 #include <Filter/ModeFilter.h>
 
 class AP_AutoTune
@@ -41,9 +43,8 @@ public:
         float tau;
     };
 
-
     // constructor
-    AP_AutoTune(ATGains &_gains, ATType type, const AP_Vehicle::FixedWing &parms, class AC_PID &rpid);
+    AP_AutoTune(ATGains &_gains, ATType type, const AP_FixedWing &parms, class AC_PID &rpid);
 
     // called when autotune mode is entered
     void start(void);
@@ -67,7 +68,7 @@ private:
     // what type of autotune is this
     ATType type;
 
-    const AP_Vehicle::FixedWing &aparm;
+    const AP_FixedWing &aparm;
 
     // values to restore if we leave autotune mode
     ATGains restore;
diff --git a/libraries/APM_Control/AP_PitchController.cpp b/libraries/APM_Control/AP_PitchController.cpp
index 502d9d9f20..53bcadd95e 100644
--- a/libraries/APM_Control/AP_PitchController.cpp
+++ b/libraries/APM_Control/AP_PitchController.cpp
@@ -19,6 +19,8 @@
 #include <AP_HAL/AP_HAL.h>
 #include "AP_PitchController.h"
 #include <AP_AHRS/AP_AHRS.h>
+#include <AP_Scheduler/AP_Scheduler.h>
+#include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -134,7 +136,7 @@ const AP_Param::GroupInfo AP_PitchController::var_info[] = {
     AP_GROUPEND
 };
 
-AP_PitchController::AP_PitchController(const AP_Vehicle::FixedWing &parms)
+AP_PitchController::AP_PitchController(const AP_FixedWing &parms)
     : aparm(parms)
 {
     AP_Param::setup_object_defaults(this, var_info);
diff --git a/libraries/APM_Control/AP_PitchController.h b/libraries/APM_Control/AP_PitchController.h
index 3e6d42249a..31b8a0a61e 100644
--- a/libraries/APM_Control/AP_PitchController.h
+++ b/libraries/APM_Control/AP_PitchController.h
@@ -1,7 +1,6 @@
 #pragma once
 
 #include <AP_Common/AP_Common.h>
-#include <AP_Vehicle/AP_Vehicle.h>
 #include "AP_AutoTune.h"
 #include <AP_Math/AP_Math.h>
 #include <AC_PID/AC_PID.h>
@@ -9,7 +8,7 @@
 class AP_PitchController
 {
 public:
-    AP_PitchController(const AP_Vehicle::FixedWing &parms);
+    AP_PitchController(const AP_FixedWing &parms);
 
     /* Do not allow copies */
     CLASS_NO_COPY(AP_PitchController);
@@ -48,7 +47,7 @@ public:
     void convert_pid();
 
 private:
-    const AP_Vehicle::FixedWing &aparm;
+    const AP_FixedWing &aparm;
     AP_AutoTune::ATGains gains;
     AP_AutoTune *autotune;
     bool failed_autotune_alloc;
diff --git a/libraries/APM_Control/AP_RollController.cpp b/libraries/APM_Control/AP_RollController.cpp
index 799a9d3240..4e2eab685a 100644
--- a/libraries/APM_Control/AP_RollController.cpp
+++ b/libraries/APM_Control/AP_RollController.cpp
@@ -20,6 +20,8 @@
 #include <AP_HAL/AP_HAL.h>
 #include "AP_RollController.h"
 #include <AP_AHRS/AP_AHRS.h>
+#include <AP_Scheduler/AP_Scheduler.h>
+#include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -118,7 +120,7 @@ const AP_Param::GroupInfo AP_RollController::var_info[] = {
 };
 
 // constructor
-AP_RollController::AP_RollController(const AP_Vehicle::FixedWing &parms)
+AP_RollController::AP_RollController(const AP_FixedWing &parms)
     : aparm(parms)
 {
     AP_Param::setup_object_defaults(this, var_info);
diff --git a/libraries/APM_Control/AP_RollController.h b/libraries/APM_Control/AP_RollController.h
index 5241a38389..5a2c3f4268 100644
--- a/libraries/APM_Control/AP_RollController.h
+++ b/libraries/APM_Control/AP_RollController.h
@@ -1,7 +1,6 @@
 #pragma once
 
 #include <AP_Common/AP_Common.h>
-#include <AP_Vehicle/AP_Vehicle.h>
 #include "AP_AutoTune.h"
 #include <AP_Math/AP_Math.h>
 #include <AC_PID/AC_PID.h>
@@ -9,7 +8,7 @@
 class AP_RollController
 {
 public:
-    AP_RollController(const AP_Vehicle::FixedWing &parms);
+    AP_RollController(const AP_FixedWing &parms);
 
     /* Do not allow copies */
     CLASS_NO_COPY(AP_RollController);
@@ -50,7 +49,7 @@ public:
     void convert_pid();
 
 private:
-    const AP_Vehicle::FixedWing &aparm;
+    const AP_FixedWing &aparm;
     AP_AutoTune::ATGains gains;
     AP_AutoTune *autotune;
     bool failed_autotune_alloc;
diff --git a/libraries/APM_Control/AP_SteerController.h b/libraries/APM_Control/AP_SteerController.h
index a52df4f0f3..d3557503cc 100644
--- a/libraries/APM_Control/AP_SteerController.h
+++ b/libraries/APM_Control/AP_SteerController.h
@@ -1,7 +1,6 @@
 #pragma once
 
 #include <AP_Common/AP_Common.h>
-#include <AP_Vehicle/AP_Vehicle.h>
 #include <AC_PID/AP_PIDInfo.h>
 
 class AP_SteerController {
diff --git a/libraries/APM_Control/AP_YawController.cpp b/libraries/APM_Control/AP_YawController.cpp
index 493d70636e..334f1e66bb 100644
--- a/libraries/APM_Control/AP_YawController.cpp
+++ b/libraries/APM_Control/AP_YawController.cpp
@@ -20,6 +20,8 @@
 #include <AP_HAL/AP_HAL.h>
 #include "AP_YawController.h"
 #include <AP_AHRS/AP_AHRS.h>
+#include <GCS_MAVLink/GCS.h>
+#include <AP_Scheduler/AP_Scheduler.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -148,7 +150,7 @@ const AP_Param::GroupInfo AP_YawController::var_info[] = {
     AP_GROUPEND
 };
 
-AP_YawController::AP_YawController(const AP_Vehicle::FixedWing &parms)
+AP_YawController::AP_YawController(const AP_FixedWing &parms)
     : aparm(parms)
 {
     AP_Param::setup_object_defaults(this, var_info);
diff --git a/libraries/APM_Control/AP_YawController.h b/libraries/APM_Control/AP_YawController.h
index eebffa289e..8c4f933edf 100644
--- a/libraries/APM_Control/AP_YawController.h
+++ b/libraries/APM_Control/AP_YawController.h
@@ -1,14 +1,13 @@
 #pragma once
 
 #include <AP_Common/AP_Common.h>
-#include <AP_Vehicle/AP_Vehicle.h>
 #include <AC_PID/AC_PID.h>
 #include "AP_AutoTune.h"
 
 class AP_YawController
 {
 public:
-    AP_YawController(const AP_Vehicle::FixedWing &parms);
+    AP_YawController(const AP_FixedWing &parms);
 
     /* Do not allow copies */
     CLASS_NO_COPY(AP_YawController);
@@ -52,7 +51,7 @@ public:
     static const struct AP_Param::GroupInfo var_info[];
 
 private:
-    const AP_Vehicle::FixedWing &aparm;
+    const AP_FixedWing &aparm;
     AP_Float _K_A;
     AP_Float _K_I;
     AP_Float _K_D;